Merge pull request #8 from haryngod/dynamic_joy

dynamic reconfiguration for joy
yujinrobot · Oct 19, 2016 · 66fdf2d · 66fdf2d
2 parents 92f30ac + 92be4c8
commit 66fdf2d
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Showing 3 changed files with 20 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(yocs_msgs)
 
-find_package(catkin REQUIRED COMPONENTS actionlib_msgs std_msgs geometry_msgs std_srvs message_generation)
+find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure actionlib_msgs std_msgs geometry_msgs std_srvs message_generation)
 
 add_message_files(FILES ARPair.msg
                         ARPairList.msg
@@ -29,6 +29,10 @@ add_action_files(
   Localize.action
 )
 
+generate_dynamic_reconfigure_options( dynamic_reconfigure/Joystick.cfg )
+
 generate_messages(DEPENDENCIES actionlib_msgs std_msgs geometry_msgs std_srvs)
 
-catkin_package(CATKIN_DEPENDS actionlib_msgs std_msgs geometry_msgs std_srvs message_runtime)
+catkin_package(CATKIN_DEPENDS dynamic_reconfigure actionlib_msgs std_msgs geometry_msgs std_srvs message_runtime)
+
+# install(DIRECTORY dynamic_reconfigure DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/dynamic_reconfigure/Joystick.cfg b/dynamic_reconfigure/Joystick.cfg
@@ -0,0 +1,12 @@
+#!/usr/bin/env python
+
+PACKAGE = "yocs_msgs"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+gen.add("linear_scale",   double_t,   0, "Linear Scale Input",  0.4, 0.0, 1.0)
+gen.add("angular_scale", double_t, 0, "Angular Scale Input", 0.3, 0.0, 1.5 )
+
+exit(gen.generate(PACKAGE, "yocs_msgs", "Joystick"))
+
diff --git a/package.xml b/package.xml
@@ -18,10 +18,12 @@
   <build_depend>std_srvs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>message_generation</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
 
   <run_depend>actionlib_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>std_srvs</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>message_runtime</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
 </package>